#!/bin/sh
#
# @name Blade 130X
#
# @type Helicopter
# @class Copter
#
# @maintainer Bart Slinger <bartslinger@gmail.com>
#
# @output MAIN1 main motor
# @output MAIN2 front swashplate servo
# @output MAIN3 right swashplate servo
# @output MAIN4 left swashplate servo
# @output MAIN5 tail-rotor servo
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.mc_defaults

# Configure as helicopter (number 4 defined in commander_helper.cpp)
set MAV_TYPE 4

set MIXER blade130

#set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
	param set ATT_BIAS_MAX 0

	param set CBRK_IO_SAFETY 22027

	param set MC_ROLL_P 5
	param set MC_ROLLRATE_P 0
	param set MC_ROLLRATE_I 0
	param set MC_ROLLRATE_D 0
	param set MC_ROLLRATE_FF 0.15
	param set MC_PITCH_P 6.5
	param set MC_PITCHRATE_P 0
	param set MC_PITCHRATE_I 0
	param set MC_PITCHRATE_D 0
	param set MC_PITCHRATE_FF 0.15
	param set MC_YAW_P 3
	param set MC_YAWRATE_P 0.1
	param set MC_YAWRATE_I 0
	param set MC_YAWRATE_D 0
	param set MC_ROLLRATE_MAX 720
	param set MC_PITCHRATE_MAX 720
	param set MC_YAWRATE_MAX 400
	param set MC_ACRO_R_MAX 360
	param set MC_ACRO_P_MAX 360

	param set MPC_THR_MIN 0.06
	param set MPC_MANTHR_MIN 0.06

	param set PWM_MIN 1075
fi
